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文件名称:模糊反步控制
文件大小:475KB
文件格式:PDF
更新时间:2021-12-23 05:28:46
fuzzy
A nonlinear fuzzy backstepping controller is
presented in this paper for set-point regulation of a Pneumatic
Muscle Actuator. Inflation and deflation are the two
possible modes of operation of this actuator. Three fuzzy
sets, one for each of both modes and one for the transition
region are considered. Each fuzzy set is associated with a
local backstepping controller. At the inflation and deflation
regimes, the associated controllers are exact backstepping
controllers, whereas a robust nonlinear backstepping controller
is used at the transition regime and deals with regime
uncertainty. The use of fuzzy membership functions provides
a smooth controller. The closed-loop system is globally
ultimately bounded.